metadata
license: apache-2.0
task_categories:
- robotics
configs:
- config_name: task_001_press_the_power_button_of_the_power_strip
default: true
data_files:
- split: train
path: task_001_press_the_power_button_of_the_power_strip/data/*/*.parquet
- config_name: task_002_transfer_the_calculator_and_then_place_it_on_the_table_to_align
data_files:
- split: train
path: >-
task_002_transfer_the_calculator_and_then_place_it_on_the_table_to_align/data/*/*.parquet
- config_name: task_003_the_plug_is_inserted_into_the_power_strip
data_files:
- split: train
path: task_003_the_plug_is_inserted_into_the_power_strip/data/*/*.parquet
- config_name: task_004_unfold_the_cleaning_cloth_and_wipe_the_table
data_files:
- split: train
path: task_004_unfold_the_cleaning_cloth_and_wipe_the_table/data/*/*.parquet
- config_name: task_005_scaffold_handover_and_alignment
data_files:
- split: train
path: task_005_scaffold_handover_and_alignment/data/*/*.parquet
- config_name: task_006_throw_the_napkin_in_the_trash_can
data_files:
- split: train
path: task_006_throw_the_napkin_in_the_trash_can/data/*/*.parquet
- config_name: task_007_put_the_usb_flash_drive_in_the_storage_cabinet
data_files:
- split: train
path: >-
task_007_put_the_usb_flash_drive_in_the_storage_cabinet/data/*/*.parquet
- config_name: task_008_clean_the_sponge_and_put_it_into_the_basin
data_files:
- split: train
path: task_008_clean_the_sponge_and_put_it_into_the_basin/data/*/*.parquet
- config_name: task_009_throw_away_the_snack_packaging_wipe_the_table
data_files:
- split: train
path: >-
task_009_throw_away_the_snack_packaging_wipe_the_table/data/*/*.parquet
- config_name: task_010_put_tableware_into_the_chopstick_cage
data_files:
- split: train
path: task_010_put_tableware_into_the_chopstick_cage/data/*/*.parquet
- config_name: task_011_put_fruits_into_the_freshkeeping_box
data_files:
- split: train
path: task_011_put_fruits_into_the_freshkeeping_box/data/*/*.parquet
- config_name: task_012_put_the_mat_on_the_table_and_then_put_the_cup_on_the_mat
data_files:
- split: train
path: >-
task_012_put_the_mat_on_the_table_and_then_put_the_cup_on_the_mat/data/*/*.parquet
- config_name: task_013_clean_the_cup_with_a_brush
data_files:
- split: train
path: task_013_clean_the_cup_with_a_brush/data/*/*.parquet
- config_name: task_014_open_the_lid_and_add_water_to_the_rice_cooker
data_files:
- split: train
path: >-
task_014_open_the_lid_and_add_water_to_the_rice_cooker/data/*/*.parquet
- config_name: task_015_put_the_measuring_cup_and_wooden_spoon_on_the_tray
data_files:
- split: train
path: >-
task_015_put_the_measuring_cup_and_wooden_spoon_on_the_tray/data/*/*.parquet
- config_name: task_016_wipe_the_countertop_and_place_the_small_pot
data_files:
- split: train
path: task_016_wipe_the_countertop_and_place_the_small_pot/data/*/*.parquet
- config_name: task_017_put_the_carrot_on_the_board
data_files:
- split: train
path: task_017_put_the_carrot_on_the_board/data/*/*.parquet
- config_name: task_018_put_the_lid_on_the_cup
data_files:
- split: train
path: task_018_put_the_lid_on_the_cup/data/*/*.parquet
- config_name: task_019_open_the_drawer_clip_the_eraser_and_put_it_in_the_drawer
data_files:
- split: train
path: >-
task_019_open_the_drawer_clip_the_eraser_and_put_it_in_the_drawer/data/*/*.parquet
- config_name: task_020_open_the_drawer_clip_the_stapler_and_put_it_in_the_drawer
data_files:
- split: train
path: >-
task_020_open_the_drawer_clip_the_stapler_and_put_it_in_the_drawer/data/*/*.parquet
- config_name: task_021_put_the_ham_sausage_into_the_freshkeeping_box
data_files:
- split: train
path: >-
task_021_put_the_ham_sausage_into_the_freshkeeping_box/data/*/*.parquet
- config_name: task_022_the_spatula_goes_into_the_drawer
data_files:
- split: train
path: task_022_the_spatula_goes_into_the_drawer/data/*/*.parquet
- config_name: task_023_pick_up_the_object_and_put_it_into_the_sock_storage_box
data_files:
- split: train
path: >-
task_023_pick_up_the_object_and_put_it_into_the_sock_storage_box/data/*/*.parquet
- config_name: task_024_pick_up_objects_and_put_them_into_the_sock_storage_box
data_files:
- split: train
path: >-
task_024_pick_up_objects_and_put_them_into_the_sock_storage_box/data/*/*.parquet
- config_name: task_025_one_hand_picks_up_the_pen_and_the_other_hand_takes_off_the_cap
data_files:
- split: train
path: >-
task_025_one_hand_picks_up_the_pen_and_the_other_hand_takes_off_the_cap/data/*/*.parquet
- config_name: task_026_pick_up_the_vase_and_insert_flowers
data_files:
- split: train
path: task_026_pick_up_the_vase_and_insert_flowers/data/*/*.parquet
- config_name: task_027_put_the_items_into_the_small_pillow_storage_box
data_files:
- split: train
path: >-
task_027_put_the_items_into_the_small_pillow_storage_box/data/*/*.parquet
- config_name: task_028_folding_square_towels
data_files:
- split: train
path: task_028_folding_square_towels/data/*/*.parquet
- config_name: task_029_put_baby_products_into_the_sterilizer
data_files:
- split: train
path: task_029_put_baby_products_into_the_sterilizer/data/*/*.parquet
- config_name: task_030_put_the_baby_shoes_into_the_container
data_files:
- split: train
path: task_030_put_the_baby_shoes_into_the_container/data/*/*.parquet
VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI Data for VLA Training
Overview
VISTA-UMI-5K is a verified robotic manipulation dataset containing 5,000 UMI trajectories across 30 tabletop manipulation tasks.
All trajectories are high-quality UMI demonstrations validated through our physical-validation pipeline and verified for high-fidelity replay on three representative robot embodiments:
- RealMan rm7500
- ARX AC one
- Galaxea R1 Pro
Each task is organized in LeRobot v3.0 format.
Task List
| ID | Task | Episodes |
|---|---|---|
| 001 | Press the power button of the power strip. | 166 |
| 002 | Transfer the calculator and then place it on the table to align. | 166 |
| 003 | The plug is inserted into the power strip. | 166 |
| 004 | Unfold the cleaning cloth and wipe the table. | 166 |
| 005 | Scaffold handover and alignment. | 166 |
| 006 | Throw the napkin in the trash can. | 166 |
| 007 | Put the USB flash drive in the storage cabinet. | 166 |
| 008 | Clean the sponge and put it into the basin. | 166 |
| 009 | Throw away the snack packaging, wipe the table. | 166 |
| 010 | Put tableware into the chopstick cage. | 166 |
| 011 | Put fruits into the freshkeeping box. | 166 |
| 012 | Put the mat on the table and then put the cup on the mat. | 166 |
| 013 | Clean the cup with a brush. | 166 |
| 014 | Open the lid and add water to the rice cooker. | 166 |
| 015 | Put the measuring cup and wooden spoon on the tray. | 186 |
| 016 | Wipe the countertop and place the small pot. | 166 |
| 017 | Put the carrot on the board. | 166 |
| 018 | Put the lid on the cup. | 166 |
| 019 | Open the drawer, clip the eraser, and put it in the drawer. | 166 |
| 020 | Open the drawer, clip the stapler, and put it in the drawer. | 166 |
| 021 | Put the ham sausage into the freshkeeping box. | 166 |
| 022 | The spatula goes into the drawer. | 166 |
| 023 | Pick up the object and put it into the sock storage box. | 166 |
| 024 | Pick up objects and put them into the sock storage box. | 166 |
| 025 | One hand picks up the pen and the other hand takes off the cap. | 166 |
| 026 | Pick up the vase and insert flowers. | 166 |
| 027 | Put the items into the small pillow storage box. | 166 |
| 028 | Folding square towels. | 166 |
| 029 | Put baby products into the sterilizer. | 166 |
| 030 | Put the baby shoes into the container. | 166 |
| Σ | 30 tasks | 5,000 |
📜 Citation
Please consider citing our work if this dataset is useful for your research:
@article{yang2026vista,
title = {VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI data for VLA Training},
author = {Siyuan Yang and Linzheng Guo and Ouyang Lu and Zhaxizhuoma and Daoran Zhang and Xinmiao Wang and Ting Xiao and Fangzheng Yan and Zhijun Chen and Yan Ding and Chao Yu and Chenjia Bai and Xuelong Li},
journal = {arXiv preprint arXiv:2606.04708},
year = {2026},
}